A method implemented in a communication device, comprising generating, via a processor of the communication device, a first waveform modulation signal based on a first approximation of an input signal, generating, via the processor, a second waveform modulation signal based on a first difference between the input signal S and the first waveform modulation signal, generating, via the processor, a control signal having a sequence of control symbols with a pre-determined modulation format, performing, via the processor, time-domain multiplexing (TDM) on the first waveform modulation signal, the second waveform modulation signal, and the control signal to form a cascaded waveform modulation signal with embedded control signal (CWM-CS), modulating, via a frontend of the communication device, the CWM-CS onto a carrier, and transmitting, via the frontend, the CWM-CS over a communication link to a corresponding communication device in a network.